cmake_minimum_required(VERSION 3.8)
project(euler_orientation)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_msgs REQUIRED)
find_package(tf2_geometry_msgs REQUIRED)
find_package(Eigen3 REQUIRED)
 
#头文件加载路径
include_directories(SYSTEM ${EIGEN3_INCLUDE_DIR})
include_directories(include)

add_executable(is_same_euler_exec src/is_same_euler.cpp)
ament_target_dependencies(is_same_euler_exec rclcpp tf2 tf2_msgs tf2_geometry_msgs)
add_executable(euler_quaternion "src/euler_quaternion.cpp")
ament_target_dependencies(euler_quaternion rclcpp tf2)
add_executable(test_exec "src/test.cpp")
ament_target_dependencies(test_exec rclcpp tf2)


install(TARGETS 
        is_same_euler_exec
        euler_quaternion
        test_exec
        DESTINATION lib/${PROJECT_NAME}
)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # comment the line when a copyright and license is added to all source files
  set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # comment the line when this package is in a git repo and when
  # a copyright and license is added to all source files
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_package()
